As shown in the main paper we evaluate our approach against the real2sim baseline. The real2sim baseline we use the same voxel representations as used by our approach and other baseline methods.
As the first step to implement the real2sim baseline we need to import the voxel representations from the real world to VREP [1]}.
Since these voxel representations do not conform to any fixed shape we cannot really import these object representations directly.
Hence we import each voxel for every object separately into VREP. Thus each voxel is initially added as cuboid object. Once all the voxels of a given object are imported we group them together to form one composite object. Once all the objects in a scene have been imported we use it to test our preconditions. In addition to this, we also tried convex decomposition of the non-convex object shapes, but we found this to be incredibly slow and inaccurate for our purpose.
